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Trajectory tracking of inverted pendulums via Lie derivative of a scalar function

In this paper, we propose a nonlinear state feedback control law to satisfy a constraint on state variables. The constraint is expressed as an algebraic equation containing a scalar nonlinear function such as an energy function or a limit cycle. Computing the time-derivative of the scalar function t...

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Bibliographic Details
Main Authors: Matsuo, T., Yasunaga, S., Suemitsu, H., Nakano, K.
Format: Conference Proceeding
Language:English
Subjects:
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Summary:In this paper, we propose a nonlinear state feedback control law to satisfy a constraint on state variables. The constraint is expressed as an algebraic equation containing a scalar nonlinear function such as an energy function or a limit cycle. Computing the time-derivative of the scalar function that defines the constraint of the state variables, we derive a nonlinear controller to regulate the state variable satisfying the constraint. An inverted pendulum system is given to demonstrate the closed-loop performance of the proposed controller.